机械臂中柔性行星齿轮的设计

The design of the flexible planet gear in mechanical arm

针对带刚性连接挠性接头、以柔性行星齿轮驱动的工业机械臂,提出了一种新的建模和计算方法。由于接头的灵活性,工作中很容易产生共振,经常导致机械臂运行轨迹产生偏差,为此本文研究了一个以挠性接头连接刚体的N级连接工业机械臂模型,该模型以永磁直流伺服电机和柔性行星齿轮进行驱动。在机械臂动态模型设计过程中,充分考虑了齿轮的周期和齿轮刚度,并以两级工业机械臂为例,仿真了带挠性接头、以行星齿轮驱动的动态机械臂模型。

In view of the rigid link flexible joint,the industry mechanical arm which actuates by the flexible planet gear,this paper proposed one kind of new modeling and the computational method.Because joint is flexibility,in the work is very easy to have resonating,causes the mechanical arm movement path to have the deviation frequently,for this reason it has studied a model which connection between the flexible joint rigid link body and N level industry mechanical arm,this model carries on the actuation by permanent magnetism DC servo motor and the flexible planet gear.In the mechanical arm dynamic modeling process,had considered fully gear＇s cycle and the gear rigidity,and take two level of industry mechanical arms as the example,simulating the dynamic mechanical arm model with rigid link flexible joint,and actuated by the planet gear.